Automated autopsy system

ABSTRACT

A medical navigation system is provided for performing at least part of an assessment of a non-living body. The medical navigation system comprises a positioning device having a positioning arm with an end effector at the end of the positioning arm, an imaging device coupled to the end effector, and a controller electrically coupled to the positioning device and the imaging device. The controller has a processor coupled to a memory and a display. The controller is configured to generate a signal to move the positioning arm to position the imaging device through a range of motion to perform a scan of a surface of the body and receive and save as data in the memory signals generated by the imaging device during the range of motion.

TECHNICAL FIELD

The present disclosure is generally related to automated medicalequipment, and more specifically to an automated autopsy system.

BACKGROUND

The present disclosure is generally related to image guided medicalprocedures using a surgical or diagnostic instrument, such as an opticalscope, an optical coherence tomography (OCT) probe, a micro ultrasoundtransducer, an electronic sensor or stimulator, a camera or 3D camera orscanner, magnetic resonance (MR) imaging transducers, x-ray systems, orcomputed tomography (CT) scanners.

Autopsies are very slow processes for pathologists, as they have toperform a comprehensive visual scan as well as internal dissection ofvarious parts of the cadaver. Some cultures want the deceased's bodyreturned as soon as possible or object to any type of internal tests onthe body.

Conventional autopsy systems have not offered any solutions to theseproblems. It would be desirable to have an autopsy system that aims toaccelerate autopsies, create better data for later use after an autopsyis performed, and provides less invasive options for medicalprofessionals wishing to perform an autopsy.

SUMMARY

One aspect of the present disclosure provides a medical navigationsystem for performing at least part of an autopsy of a non-living body.The medical navigation system comprises a positioning device having apositioning arm with an end effector at the end of the positioning arm,an imaging device coupled to the end effector, and a controllerelectrically coupled to the positioning device and the imaging device.The controller has a processor coupled to a memory and a display. Thecontroller is configured to generate a signal to move the positioningarm to position the imaging device through a range of motion to performa scan of a surface of the body and receive and save as data in thememory the signals generated by the imaging device during the range ofmotion.

Another aspect of the present disclosure provides a method forperforming at least part of an automated autopsy of a body using amedical navigation system having a positioning device having apositioning arm with an imaging device coupled to the positioning armand a controller electrically coupled to the positioning device and theimaging device. The controller has a processor coupled to a memory and adisplay. The method comprises generating a signal to move thepositioning arm to position the imaging device through a range of motionto perform a scan of a surface of the body and receiving and saving asdata in the memory the signals generated by the imaging device duringthe range of motion.

A further understanding of the functional and advantageous aspects ofthe disclosure can be realized by reference to the following detaileddescription and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will now be described, by way of example only, withreference to the drawings, in which:

FIG. 1 shows an exemplary navigation system to support minimallyinvasive surgery that may also be applied to performing an automatedautopsy;

FIG. 2 is a block diagram illustrating a control and processing systemthat may be used in the navigation system shown in FIG. 1;

FIG. 3 is an exemplary navigation system similar to FIG. 1 illustratingsystem components of an exemplary surgical system that may be used inperforming an automated autopsy;

FIG. 4 is perspective drawing illustrating an end effector holding acamera;

FIG. 5 is a perspective drawing illustrating a scanning module that maybe used with the navigation system of FIG. 3; and

FIG. 6 is a flow diagram illustrating a method of performing anautomated autopsy.

DETAILED DESCRIPTION

Various embodiments and aspects of the disclosure will be described withreference to details discussed below. The following description anddrawings are illustrative of the disclosure and are not to be construedas limiting the disclosure. Numerous specific details are described toprovide a thorough understanding of various embodiments of the presentdisclosure. However, in certain instances, well-known or conventionaldetails are not described in order to provide a concise discussion ofembodiments of the present disclosure.

As used herein, the terms, “comprises” and “comprising” are to beconstrued as being inclusive and open ended, and not exclusive.Specifically, when used in the specification and claims, the terms,“comprises” and “comprising” and variations thereof mean the specifiedfeatures, steps or components are included. These terms are not to beinterpreted to exclude the presence of other features, steps orcomponents.

As used herein, the term “exemplary” means “serving as an example,instance, or illustration,” and should not be construed as preferred oradvantageous over other configurations disclosed herein.

As used herein, the terms “about”, “approximately”, and “substantially”are meant to cover variations that may exist in the upper and lowerlimits of the ranges of values, such as variations in properties,parameters, and dimensions. In one non-limiting example, the terms“about”, “approximately”, and “substantially” mean plus or minus 10percent or less.

Unless defined otherwise, all technical and scientific terms used hereinare intended to have the same meaning as commonly understood by one ofordinary skill in the art. Unless otherwise indicated, such as throughcontext, as used herein, the following terms are intended to have thefollowing meanings:

As used herein the phrase “intraoperative” refers to an action, process,method, event or step that occurs or is carried out during at least aportion of a medical procedure. Intraoperative, as defined herein, isnot limited to surgical procedures, and may refer to other types ofmedical procedures, such as diagnostic and therapeutic procedures.

Referring to FIG. 1, an exemplary navigation system environment 200 isshown, which may be used to support navigated image-guided surgery. Asshown in FIG. 1, surgeon 201 conducts a surgery on a patient 202 in anoperating room (OR) environment. A medical navigation system 205comprising an equipment tower, tracking system, displays and trackedinstruments assist the surgeon 201 during his procedure. An operator 203is also present to operate, control and provide assistance for themedical navigation system 205.

Referring to FIG. 2, a block diagram is shown illustrating a control andprocessing system 300 that may be used in the medical navigation system200 shown in FIG. 1 (e.g., as part of the equipment tower). As shown inFIG. 2, in one example, control and processing system 300 may includeone or more processors 302, a memory 304, a system bus 306, one or moreinput/output interfaces 308, a communications interface 310, and storagedevice 312. Control and processing system 300 may be interfaced withother external devices, such as tracking system 321, data storage 342,and external user input and output devices 344, which may include, forexample, one or more of a display, keyboard, mouse, sensors attached tomedical equipment, foot pedal, and microphone and speaker. Data storage342 may be any suitable data storage device, such as a local or remotecomputing device (e.g. a computer, hard drive, digital media device, orserver) having a database stored thereon. In the example shown in FIG.2, data storage device 342 includes identification data 350 foridentifying one or more medical instruments 360 and configuration data352 that associates customized configuration parameters with one or moremedical instruments 360. Data storage device 342 may also includepreoperative image data 354 and/or medical procedure planning data 356.Although data storage device 342 is shown as a single device in FIG. 2,it will be understood that in other embodiments, data storage device 342may be provided as multiple storage devices.

Medical instruments 360 are identifiable by control and processing unit300. Medical instruments 360 may be connected to and controlled bycontrol and processing unit 300, or medical instruments 360 may beoperated or otherwise employed independent of control and processingunit 300. Tracking system 321 may be employed to track one or more ofmedical instruments 360 and spatially register the one or more trackedmedical instruments to an intraoperative reference frame. For example,medical instruments 360 may include tracking markers such as trackingspheres that may be recognizable by a tracking camera 307. In oneexample, the tracking camera 307 may be an infrared (IR) trackingcamera. In another example, as sheath placed over a medical instrument360 may be connected to and controlled by control and processing unit300.

Control and processing unit 300 may also interface with a number ofconfigurable devices, and may intraoperatively reconfigure one or moreof such devices based on configuration parameters obtained fromconfiguration data 352. Examples of devices 320, as shown in FIG. 2,include one or more external imaging devices 322, one or moreillumination devices 324, a robotic arm 305, one or more projectiondevices 328, and one or more displays 205, 311.

Exemplary aspects of the disclosure can be implemented via processor(s)302 and/or memory 304. For example, the functionalities described hereincan be partially implemented via hardware logic in processor 302 andpartially using the instructions stored in memory 304, as one or moreprocessing modules or engines 370. Example processing modules include,but are not limited to, user interface engine 372, tracking module 374,motor controller 376, image processing engine 378, image registrationengine 380, procedure planning engine 382, navigation engine 384, andcontext analysis module 386. While the example processing modules areshown separately in FIG. 2, in one example the processing modules 370may be stored in the memory 304 and the processing modules may becollectively referred to as processing modules 370.

It is to be understood that the system is not intended to be limited tothe components shown in FIG. 2. One or more components of the controland processing system 300 may be provided as an external component ordevice. In one example, navigation module 384 may be provided as anexternal navigation system that is integrated with control andprocessing system 300.

Some embodiments may be implemented using processor 302 withoutadditional instructions stored in memory 304. Some embodiments may beimplemented using the instructions stored in memory 304 for execution byone or more general purpose microprocessors. Thus, the disclosure is notlimited to a specific configuration of hardware and/or software.

While some embodiments can be implemented in fully functioning computersand computer systems, various embodiments are capable of beingdistributed as a computing product in a variety of forms and are capableof being applied regardless of the particular type of machine orcomputer readable media used to actually effect the distribution.

At least some aspects disclosed can be embodied, at least in part, insoftware. That is, the techniques may be carried out in a computersystem or other data processing system in response to its processor,such as a microprocessor, executing sequences of instructions containedin a memory, such as ROM, volatile RAM, non-volatile memory, cache or aremote storage device.

A computer readable storage medium can be used to store software anddata which, when executed by a data processing system, causes the systemto perform various methods. The executable software and data may bestored in various places including for example ROM, volatile RAM,nonvolatile memory and/or cache. Portions of this software and/or datamay be stored in any one of these storage devices.

Examples of computer-readable storage media include, but are not limitedto, recordable and non-recordable type media such as volatile andnon-volatile memory devices, read only memory (ROM), random accessmemory (RAM), flash memory devices, floppy and other removable disks,magnetic disk storage media, optical storage media (e.g., compact discs(CDs), digital versatile disks (DVDs), etc.), among others. Theinstructions may be embodied in digital and analog communication linksfor electrical, optical, acoustical or other forms of propagatedsignals, such as carrier waves, infrared signals, digital signals, andthe like. The storage medium may be the internet cloud, or a computerreadable storage medium such as a disc.

At least some of the methods described herein are capable of beingdistributed in a computer program product comprising a computer readablemedium that bears computer usable instructions for execution by one ormore processors, to perform aspects of the methods described. The mediummay be provided in various forms such as, but not limited to, one ormore diskettes, compact disks, tapes, chips, USB keys, external harddrives, wire-line transmissions, satellite transmissions, internettransmissions or downloads, magnetic and electronic storage media,digital and analog signals, and the like. The computer useableinstructions may also be in various forms, including compiled andnon-compiled code.

According to one aspect of the present application, one purpose of thenavigation system 205, which may include control and processing unit300, is to provide tools perform an automated autopsy. In addition toperforming automated autopsies, the navigation system 205 may also beapplied to the removal of brain tumours and intracranial hemorrhages(ICH). The navigation system 205 can also be applied to a brain biopsy,a functional/deep-brain stimulation, a catheter/shunt placementprocedure, open craniotomies, endonasal/skull-based/ENT, spineprocedures, and other parts of the body such as breast biopsies, liverbiopsies, etc. While several examples have been provided, aspects of thepresent disclosure may be applied to any suitable medical procedure.

FIG. 3 is a diagram illustrating components of an exemplary surgicalsystem that may used in an automated autopsy system that is similar toFIG. 1. FIG. 3 illustrates a navigation system 200 having an equipmenttower 502, a tracking system and a display (not shown), an intelligentpositioning system 508 and optional tracking markers (not shown) thatmay be used to track instruments. In the example of an automatedautopsy, the surgeon 201 may not be present and the navigation system200 may function in a fully automated or partially automated mode. Theimaging device 512 may be an external scope, videoscope, wide fieldcamera, or an alternate image capturing device such as a 3D camera. Theimaging sensor view is depicted on the visual display which surgeon 201may use for navigating through the anatomical region of interest. Thesystem of FIG. 3 may also be applied to an automated autopsy system,described in more detail below.

An intelligent positioning system 508 comprising an automated arm 514, alifting column 516 and an end effector 518, is placed in proximity topatient 202. Lifting column 516 is connected to a frame of intelligentpositioning system 508. In another example, the intelligent positioningsystem 508 may be fixed to a table or horizontal surface and the patient202 may be placed in an autopsy area. As seen in FIG. 3, the proximalend of automated mechanical arm 514 (further known as automated armherein) is connected to lifting column 516. In other embodiments,automated arm 514 may be connected to a horizontal beam, which is theneither connected to lifting column 516 or directly to frame of theintelligent positioning system 508. Automated arm 514 may have multiplejoints to enable 5, 6 or 7 degrees of freedom.

End effector 518 is attached to the distal end of automated arm 514. Endeffector 518 may accommodate a plurality of instruments or tools thatmay assist surgeon 201 in his procedure or provide a number of functionsin the case of an automated autopsy. In the example of an automatedautopsy system, there may be a coroner or technician 201 supervising theautomated autopsy, which is entirely or at least partially automaticallyperformed by the navigation system 200. End effector 518 is shown asholding an external scope, however it should be noted that this ismerely an example and alternate devices may be used with the endeffector 518 such as a wide field camera, microscope and OCT (OpticalCoherence Tomography), such as an optical scope, a micro ultrasoundtransducer, an electronic sensor or stimulator, a camera or 3D camera orscanner, a magnetic resonance (MR) imaging transducers, an x-raysystems, or computed tomography (CT) scanner, or other imaginginstruments. In another example, multiple end effectors may be attachedto the distal end of automated arm 518, and thus assist the surgeon 201in switching between multiple modalities. For example, the coroner ortechnician 201 may want the ability to move between microscope and OCTwith stand-off optics. In a further example, the ability to attach asecond, more accurate, but smaller range end effector such as a laserbased ablation system with micro-control may be contemplated.

The intelligent positioning system 508 receives as input the spatialposition and pose data of the automated arm 514 and target as determinedby the tracking system, in one example by detection of tracking markerson the patient 202 by the wide field camera. Further, it should be notedthat the tracking markers may be used to track both the automated arm514 as well as the end effector 518 either collectively orindependently. It should be noted that a wide field camera 520 is shownin this image and that it is connected to the external scope (e.g.,imaging device 512) and the two imaging devices together are held by theend effector 518. It should additionally be noted that although theseare depicted together for illustration of the diagram that either couldbe utilized independently of the other, for example where an externalvideo scope can be used independently of the wide field camera 520.

Intelligent positioning system 508 computes the desired joint positionsfor automated arm 514 so as to maneuver the end effector 518 mounted onthe automated arm's distal end to a predetermined spatial position andpose. This redetermined relative spatial position and pose is termed the“Zero Position” where the sensor of imaging device 512 and the desiredviewing axis are axially aligned.

Further, the intelligent positioning system 508, optical trackingdevice, automated arm 514, and tracking markers may form a feedbackloop. This feedback loop works to keep the desired view in constant viewand focus of the end effector 518. Intelligent positioning system 508may also include a foot pedal (or other input devices, such as touchsensors, motion sensors, microphone, mechanical buttons, etc.) for useby the surgeon 201 to align the end effector 518 (i.e., holding avideoscope) of automated arm 514 with the desired viewing target.

Referring to FIG. 4, an end effector 518 is shown attached to automatedarm 514. The end effector 518 includes a handle 602 and a scope clamp604. The scope clamp 604 holds imaging device 512. The end effector alsohas wide field camera 520 attached thereto. An end effector similar tothe end effector 518 may be used for and/or adapted to holding any ofthe imaging devices, probes, needles, or other medical equipmentdescribed below for use in performing an automated autopsy.

The specific embodiments described above have been shown by way ofexample, and it should be understood that these embodiments may besusceptible to various modifications and alternative forms. It should befurther understood that the claims are not intended to be limited to theparticular forms disclosed, but rather to cover all modifications,equivalents, and alternatives falling within the spirit and scope ofthis disclosure.

The present application may be applied to a navigation system such asthe navigation system 200 for the purpose of performing and/or aiding inan autopsy. Given a cadaver, a doctor must perform a visual inspectionof the surface of the skin for any areas of interest. A suitablyprogrammed navigation system may initiate and perform a complete andthorough body scan, possibly at multiple angles, identifying and/orcataloging any issues that are found. If an item of interest on the skinis automatically discovered by the navigation system (e.g., bruising,cuts, etc.), then the navigation system 200 may automatically generateadditional images in the area of the item of interest. In one example,the additional images may be of a particularly high resolution. Such anapproach may have a number of benefits, such as: (a) the pathologist nowhas a digital record of the body that he can go back and look at ifother questions arise later on; (b) a suitable camera may be used inorder to pick up wavelengths of light not observable by human eyes;and/or (c) the doctor may perform the automated initial scan on the bodyand use that as a guide to speed up his autopsy procedure. For example,if the navigation system finds no unusual problems on the skin of thebody then the doctor may skip that step and move to internal steps ofthe autopsy.

In some examples, the present application may also aim to: (a)automatically take tissue samples of different organs (e.g., after aspecial registration of the body, determine where the liver is andinsert a biopsy probe to extract a sample of the liver); (b) provideadditional scanning modalities, such as ultrasound, x-ray, computedtomography (CT), positron emission tomography (PET), magnetic resonanceimaging (MRI), etc.; (c) provide a 3D scanner that may provide full bodysurface 3D information; (d) perform a full body MRI; (e) provide for atele-operated or remotely controlled autopsy using a the navigationsystem, such as in the case of body that may present a biomedicalhazard; (f) provide insertable optical probes for performing automatedbiopsies; (g) provide a rapid toxicology analysis where tissue removalis not needed; (h) automatically determine a cause of death; and/or (i)provide for a MR guided automated biopsy using a long table or conveyerbelt.

One aspect of the present application provides a medical navigationsystem, such as the medical navigation system 200, for performing atleast part of an autopsy of a body (e.g., the patient or body 202). Themedical navigation system 200 may include a positioning device, such aspositioning system 508, having a positioning arm, such as automated arm514, with an end effector, such as the end effector 518, at the end ofthe positioning arm. An imaging device 512 may be coupled to the endeffector 518. A controller (e.g., control and processing unit 300) iselectrically coupled to the positioning device and the imaging device.The controller has a processor (e.g., processor 302) coupled to a memory(e.g., memory 304 and/or data storage device 342) and a display (e.g.,display 311 and/or 506). The controller is configured to generate asignal to move the positioning arm to position the imaging device 512through a range of motion to perform a scan of a surface of the body 202and receive and save as data in the memory 304/342 the signals generatedby the imaging device 512 during the range of motion. The medicalnavigation system 200 may further have a horizontal surface forsupporting the body, as shown in FIG. 3. In one example, the horizontalsurface may be substantially transparent allowing the imaging device 512to acquire images of a backside of the body as the imaging device ismoved around the backside of the body underneath the horizontal surfaceby the positioning arm.

In one example, the imaging device 512 may be an optical camera such asa three dimensional (3D) camera. However, the imaging device 512 may beany suitable imaging device such as a video camera, a thermal camera, anacoustic receiver, a sonar device, an optical coherence tomography (OCT)device, or a polarization sensitive OCT (PS-OCT) device. In someexamples, the imaging device 512 may include two or more such imagingdevices used simultaneously or consecutively or the imaging devices maybe changed during the automated autopsy, where one such imaging deviceis removed from the end effector 518 such that another imaging devicemay be attached to the end effector 518.

In one example, the medical navigation system 200 may be configured toperform a pathological analysis of the saved data to automaticallydiscover items of interest on the surface of the body 202 and to furtherprovide an initial assessment of a likely cause of death of the body202. The pathological analysis may either be semi-automated orfully-automated by the medical navigation system 200. The saved data maybe compared to data stored in a database as a basis for the pathologicalanalysis. The saved data may also be stored in a repository ashistorical data for use in future autopsies.

In one example, in response to discovering an item of interest on thesurface of the body 202, the medical navigation system 200 may beconfigured to generate a signal to move the positioning arm to positionthe imaging device 512 to capture additional images in an area of theitem of interest on the surface of the body 202 and receive and save asadditional data in the memory 304,342 the signals generated by theimaging device 512 during the capture of the additional images. In oneexample, a suitable imaging device may be used such that the imagingdevice 512 can detect wavelengths of light outside of the visible rangetherefore providing information for an automated analysis by the medicalnavigation system 200 beyond that which is directly observable by thehuman eye. For example, an imaging device capable of detecting infraredlight may provide additional information about the surface of the body202.

In one example, the medical navigation system 200 may have an ultrasoundcomponent that is connectable to the end effector 518 and electricallyconnectable to the controller. In one example, the ultrasound componentmay include an ultrasound transducer capable of generating ultrasonicwaves for transmission through human tissue and capable of detectingreflections reflected by the tissue. The controller may be configured togenerate a signal to move the positioning arm to position the ultrasoundcomponent through a range of motion to perform an automated ultrasoundof an area of interest on the surface of the body 202 and receive andsave as data in the memory 304,342 the signals generated by theultrasound component during the range of motion.

In another example, the medical navigation system 200 may have an x-raycomponent that is connectable to the end effector 518 and electricallyconnectable to the controller. In one example, the x-ray component mayinclude an x-ray transducer capable of generating x-rays fortransmission through human tissue. The x-ray component may also includea second x-ray transducer that may be positioned on the other side ofthe body 202 that is capable of receiving x-rays that pass through thetissue of the body 202. The controller may be configured to generate asignal to move the positioning arm to position the x-ray componentthrough a range of motion to perform an automated x-ray of an area ofinterest on the surface of the body and receive and save as data in thememory 304,342 the signals generated by the x-ray component thatreceived the x-rays passed through the body 202 during the range ofmotion. In one example, the medical navigation system 200 may beconfigured to perform a whole body x-ray, since radiation exposure is nolonger a concern for a body that is no longer living.

In another example, the medical navigation system 200 may have amagnetic resonance (MR) imaging component that is electrically connectedto the controller. When the body is placed in the MR imaging componentthe controller is configured to generate a signal to operate the MRimaging component and receive and save as data in the memory 304,342 thesignals generated by the MR imaging component during the operation ofthe MR imaging component.

In another example, the medical navigation system 200 may have acomputed tomography (CT) imaging component that is electricallyconnected to the controller. When the body is placed in the CT imagingcomponent the controller is configured to generate a signal to operatethe CT imaging component and receive and save as data in the memory 304,342 the signals generated by the CT imaging component during theoperation of the CT imaging component.

Referring now to FIG. 5, a perspective drawing is shown illustrating anexemplary scanning module 700 that may be used with the medicalnavigation system 200. The scanning module 700 may include an enclosure702 having an opening 704 to allow for entry of the body 202. In oneexample, the enclosure 702 may be cylindrical; however the enclosure 702may be any suitable shape to meet the design criteria of a particularapplication. The scanning module 700 may include a coil 706 or series ofcoils 706 or other suitable transducer(s) for generating, transmitting,and/or receiving electromagnetic magnetic signals where the scanningmodule 700 is using for magnetic resonance imaging. In another example,the scanning module may be suitable for x-rays or CT scans. As such, theexemplary scanning module 700 may be used as the x-ray component, the MRimaging component, and/or the CT imaging component, or as any othersuitable component. The horizontal surface of FIG. 3 may be moved intothe scanning module 700 when the scanning module 700 is to be used orthe scanning module 700 may be moved into position with the horizontalsurface being fixed, depending on the design criteria of a particularapplication.

In one example, the medical navigation system 200 may have a biopsyprobe that is connectable to the end effector 518. The controller may beconfigured to generate a signal to move the positioning arm to positionthe biopsy probe in a position to perform an automated biopsy of an areaof interest in the body 202. The positioning arm may further retrieveand store a biopsy sample taken by the biopsy probe. In another example,the medical navigation system 200 may have a needle that is connectableto the end effector 518. The controller may be configured to generate asignal to move the positioning arm to position the needle in a positionto take a blood sample from the body 202 and retrieve and store theblood sample taken by the needle.

In one example, the medical navigation system 200 may be remotelyoperated by an operator for performing at least a partially automatedautopsy of a body that presents a biomedical hazard, such as a body thatwas infected with a virus that is highly contagious and deadly. Themedical navigation system 200 may be controllable by an operator inanother room observing through a window, or even remotely controllableby an operator who is offsite and observes the procedure remotely on adisplay, for example by video provided by a video camera connected tothe medical navigation system 200.

In one example, the medical navigation system 200 may have a guided pathelectrically coupled to the controller. The MR imaging component and/orthe CT imaging component and/or the xray component may be in the form ofan enclosure (e.g., the scanning module 700 shown in FIG. 7) enclosingat least a portion of the guided path. In one example, the scanningmodule 700 is located a distance from the positioning device, the guidedpath or a horizontal surface that is moveable on the guided path thatsupports the body, and the controller controls the guided path and/orthe horizontal surface on the guided path to automatically position thebody for access by the positioning device, the CT imaging component, theMR imaging component, and/or the x-ray imaging component when needed. Inone example, the guided path may be a conveyor belt, tracks, opticalmarkers that may be followed by the positioning arm, or any othersuitable solution that allows the medical navigation system 200 to movethe body 202 for access by various components of an automated autopsysystem.

Referring now to FIG. 6, a flow diagram is shown illustrating a method800 of performing an automated autopsy. The method 800 may be a methodfor performing at least part of an automated autopsy of a body (e.g.,the body 202) using a medical navigation system (e.g., the medicalnavigation system 200) having a positioning device having a positioningarm (e.g., the automated arm 514) with an imaging device coupled to thepositioning arm. A controller, such as the control and processing unit300, is electrically coupled to the positioning device and the imagingdevice. The controller has a processor (e.g., the processor 302) coupledto a memory (e.g., the memory 304 and/or the data storage device 342)and a display (e.g., the display 311, 506). At a first block 802, themethod 800 generates a signal to move the positioning arm to positionthe imaging device through a range of motion to perform a scan of asurface of the body and, at a block 804, receives and saves as data inthe memory 304, 342 the signals generated by the imaging device duringthe range of motion.

In one example, the imaging device may be an optical camera, a threedimensional (3D) camera, a video camera, a thermal camera, an acousticreceiver, a sonar device, an optical coherence tomography (OCT) device,a polarization sensitive OCT (PS-OCT) device, any combination thereof,or any other suitable imaging device. The imaging device may be able todetect wavelengths of light outside of the visible range thereforeproviding information for an automated analysis beyond what isobservable by the human eye.

Next, at a block 806, a pathological analysis of the saved data may beperformed to automatically discover items of interest on the surface ofthe body 202. The pathological analysis may be semi-automated orfully-automated by the medical navigation system 200, depending on thedesign criteria of a particular application or the desire of asupervising technician or physician. In another example, thepathological analysis performed at the block 806 may be done during thescans (e.g., in parallel with the blocks 802/804) so that the imagingdevice scans a section of the body, the data is analyzed in parallel andthe signal to capture more high-resolution images or scans by theimaging device (e.g., block 810 described below) may be generated beforefinishing blocks 802/804. In another example, the patient or cadaver 202may be divided into regions, such as first performing a head scan (block802/804), followed by a pathological analysis (block 806), along withany additional scans in any area of interest (block 810), at which pointa next area of the body is focused on (e.g., blocks 802-810 areperformed for the torso).

When one or more items of interest are found on the surface of the body202, the method 800 proceeds to a block 810 where a signal is generatedto move the positioning arm to position the camera to capture additionalimages in an area of the item of interest on the surface of the body 202and receive and save as additional data in the memory 304, 342 thesignals generated by the imaging device during the capture of theadditional images.

After the blocks 806 and 810, if applicable, an initial assessment of alikely cause of death may be provided at a block 824. A number ofoptional blocks 812, 814, 816, 818, 820, and 822 may be performed,indicated by broken lines, depending on the design criteria of aparticular application and/or the judgment of a supervising technicianor physician.

At an optional block 812, the system may have an ultrasound componentthat is connectable to the positioning arm and electrically connected tothe controller. The method 800 may generate a signal to move thepositioning arm to position the ultrasound component through a range ofmotion to perform an automated ultrasound of an area of interest on thesurface of the body 202 and receive and save as data in the memory304,342 the signals generated by the ultrasound component during therange of motion.

At an optional block 814, the system may have an x-ray component that isconnectable to the positioning arm and electrically connectable to thecontroller. The method 800 may generate a signal to move the positioningarm to position the x-ray component through a range of motion to performan automated x-ray of an area of interest on the surface of the body 202and receive and save as data in the memory 304,342 the signals generatedby the x-ray component during the range of motion.

At an optional block 816, the system may have a magnetic resonance (MR)imaging component that is electrically connected to the controller. Whenthe body 202 is placed in the MR imaging component, the method 800 maygenerate a signal to operate the MR imaging component and receive andsave as data in the memory 304,342 the signals generated by the MRimaging component during the operation of the MR imaging component.

At an optional block 818, the system may have a computed tomography (CT)imaging component that is electrically connected to the controller. Whenthe body 202 is placed in the CT imaging component, the method 800 maygenerate a signal to operate the CT imaging component and receive andsave as data in the memory 304,342 the signals generated by the CTimaging component during the operation of the CT imaging component.

At an optional block 820, the system may have a biopsy probe that isconnectable to the positioning arm. The method 800 may generate a signalto move the positioning arm to position the biopsy probe in a positionto perform an automated biopsy of an area of interest in the body andretrieve and store a biopsy sample taken by the biopsy probe.

At an optional block 822, the system may further have a needle that isconnectable to the positioning arm. The method 800 may generate a signalto move the positioning arm to position the needle in a position to takea blood sample from the body 202 and retrieve and store the blood sampletaken by the needle.

The blocks of the method 800 may be performed in any suitable order. Forexample, it may be desirable to take the blood sample at the block 822before the body is exposed to any electromagnetic radiation at theblocks 814, 816, or 818.

Although the present disclosure provides examples in the context ofperforming an autopsy on a non-living body, example embodiments of thepresent disclosure may be used for performing other types of assessmentof a body, including assessment on organs for the purpose of tissueharvesting and/or organ transplants. For example, the disclosed systemand method may be used for performing an assessment of tissues and/ororgans, shortly post mortem, to determine the quality and/or suitabilityof tissue(s) and/or organ(s). The information about the donor (e.g.,age, sex, blood type, etc.) may be entered or linked into a centralizeddatabase or informatics system, with information about the condition oftissue(s)/organ(s) that are suitable for transplant. This informationmay be used to find matches or candidates in a database of patientsawaiting transplants. This may enable a potential donor to beautomatically matched with one or more patients for a potentialtissue/organ transplant.

Having an automated system to perform this tissue/organ assessment maybe less costly, quicker and/or more accurate than relying on a humansurgeon, such probes and other tools may be mounted on the end effectorof an automated robotic arm to perform real-time analysis. This mayenable more effective assessment of the potential for tissue/organdonation within the optimum window post mortem and/or more effectiveidentification of potential matches.

In one example, the medical navigation system 200 may have a guided pathelectrically coupled to the controller. The MR imaging component and/orthe CT imaging component and/or the xray component may be in the form ofan enclosure (e.g., the scanning module 700 shown in FIG. 7) enclosingat least a portion of the guided path. In one example, the scanningmodule 700 is located a distance from the positioning device, the guidedpath or a horizontal surface that is moveable on the guided path thatsupports the body, and the controller controls the guided path and/orthe horizontal surface on the guided path to automatically position thebody for access by the positioning device, the CT imaging component, theMR imaging component, and/or the x-ray imaging component when needed.The guided path may be a conveyor belt, tracks, rails and/or opticalmarkers that may be followed by the positioning arm, or any othersuitable solution that allows the medical navigation system 200 to movethe body 202 for access by various components of an automated autopsysystem.

While the teachings described herein are in conjunction with variousembodiments for illustrative purposes, it is not intended that theapplicant's teachings be limited to such embodiments. On the contrary,the applicant's teachings described and illustrated herein encompassvarious alternatives, modifications, and equivalents, without departingfrom the embodiments, the general scope of which is defined in theappended claims.

1. A medical navigation system for performing at least part of anassessment of a non-living body, the medical navigation systemcomprising: a positioning device having a positioning arm with an endeffector at the end of the positioning arm; an imaging device coupled tothe end effector; and a controller electrically coupled to thepositioning device and the imaging device, the controller having aprocessor coupled to a memory and a display; the controller beingconfigured to: generate a signal to move the positioning arm to positionthe imaging device through a range of motion to perform a scan of asurface of the body; receive and save as data in the memory a signalgenerated by the imaging device during the range of motion; and performa pathological analysis of the saved data to automatically discoveritems of interest on the body.
 2. (canceled)
 3. The medical navigationsystem according to claim 1 further comprising a substantiallytransparent horizontal surface allowing the imaging device to acquireimages of a backside of the body.
 4. The medical navigation systemaccording to claim 1, wherein the imaging device is selected from agroup consisting of an optical camera, a three dimensional (3D) camera,a video camera, a thermal camera, an acoustic receiver, a sonar device,an optical coherence tomography (OCT) device, and a polarizationsensitive OCT (PS-OCT) device.
 5. (canceled)
 6. The medical navigationsystem according to claim 1, wherein the processor is further configuredto provide an initial assessment of a likely cause of death.
 7. Themedical navigation system according to claim 1, wherein the processor isfurther configured to assess suitability of at least one tissue or organof the body for harvesting, based on the pathological analysis. 8.(canceled)
 9. (canceled)
 10. The medical navigation system according toclaim 1, wherein in response to discovering an item of interest on thebody, the processor is further configured to: generate a signal to movethe positioning arm to position the imaging device to capture additionalimages in an area of the item of interest on the body; and receive andsave as additional data in the memory a signal generated by the imagingdevice during the capture of the additional images.
 11. The medicalnavigation system according to claim 1, wherein the saved data iscompared to other data stored in a database as a basis for thepathological analysis.
 12. The medical navigation system according toclaim 1, wherein the saved data is further stored in a repository ashistorical data for use in future assessments.
 13. The medicalnavigation system according to claim 1, wherein the imaging device candetect wavelengths of light outside of the visible range thereforeproviding information for an automated analysis beyond what isobservable by the human eye.
 14. The medical navigation system accordingto claim 1, wherein the system further comprises an ultrasound componentthat is connectable to the end effector and electrically connectable tothe controller and the controller is further configured to: generate asignal to move the positioning arm to position the ultrasound componentthrough a range of motion to perform an automated ultrasound of an areaof interest on the surface of the body; and receive and save as data inthe memory a signal generated by the ultrasound component during therange of motion.
 15. (canceled)
 16. The medical navigation systemaccording to claim 1, wherein the system further comprises an a magneticresonance (MR) imaging component that is electrically connected to thecontroller and when the body is placed in the MR imaging component thecontroller is further configured to: generate a signal to operate the MRimaging component; and receive and save as data in the memory a signalgenerated by the MR imaging component during the operation of the MRimaging component.
 17. The medical navigation system according to claim1, wherein the system further comprises an a computed tomography (CT)imaging component that is electrically connected to the controller andwhen the body is placed in the CT imaging component the controller isfurther configured to: generate a signal to operate the CT imagingcomponent; and receive and save as data in the memory a signal generatedby the CT imaging component during the operation of the CT imagingcomponent.
 18. The medical navigation system according to claim 17,wherein the system further comprises a guided path electrically coupledto the controller, the MR imaging component and the CT imaging componentbeing in the form of an enclosure enclosing at least a portion of theguided path located a distance from the positioning device, the guidedpath for supporting the body and the controller controlling the guidedpath to automatically position the body for access by the positioningdevice, the CT imaging component, and the MR imaging component.
 19. Themedical navigation system according to claim 18, wherein the guided pathincludes at least one of a conveyor belt, tracks, and optical markersthat are followable by the positioning arm.
 20. The medical navigationsystem according to claim 1, wherein the system further comprises abiopsy probe that is connectable to the end effector and the controlleris further configured to: generate a signal to move the positioning armto position the biopsy probe in a position to perform an automatedbiopsy of an area of interest in the body; and retrieve and store abiopsy sample taken by the biopsy probe.
 21. The medical navigationsystem according to claim 1, wherein the system further comprises aneedle that is connectable to the end effector and the controller isfurther configured to: generate a signal to move the positioning arm toposition the needle in a position to take a blood sample from the body;and retrieve and store the blood sample taken by the needle. 22.(canceled)
 23. (canceled)
 24. A method for performing at least part ofan automated assessment of a non-living body using a medical navigationsystem having a positioning device having a positioning arm with animaging device coupled to the positioning arm, and a controllerelectrically coupled to the positioning device and the imaging device,the controller having a processor coupled to a memory and a display, themethod comprising: generating a signal to move the positioning arm toposition the imaging device through a range of motion to perform a scanof a surface of the body; receiving and saving as data in the memory asignal generated by the imaging device during the range of motion;perform a pathological analysis of the saved data to automaticallydiscover items of interest on the body; and assessing suitability of atleast one tissue or organ of the body for harvesting, based on thepathological analysis.
 25. (canceled)
 26. (canceled)
 26. (canceled) 28.(canceled)
 29. The method according to claim 24, further comprisingsharing an assessment based on the pathological analysis with a remoteinformatics system or database.
 30. (canceled)
 31. (canceled) 32.(canceled)
 33. (canceled)
 34. (canceled)
 35. (canceled)
 36. (canceled)37. (canceled)
 38. (canceled)
 39. (canceled)
 40. (canceled) 41.(canceled)
 42. The method according to claim 24, wherein the navigationsystem further comprises a needle that is connectable to the positioningarm, the method further comprising: generating a signal to move thepositioning arm to position the needle in a position to take a bloodsample from the body; and retrieving and storing the blood sample takenby the needle.
 43. The method according to claim 24, wherein the body isselected from the group consisting of a human cadaver and an animal.